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This work proposes a method for efficiently computing manipulation paths to rearrange similar objects in a cluttered space. Rearrangement is a challenging problem as it involves combinatorially large, continuous configuration spaces due to the presence of multiple bodies and kinematically complex manipulators. This work leverages ideas from multi-robot motion planning and manipulation planning to propose appropriate graphical representations for this challenge. These representations allow to quickly reason whether manipulation paths allow the transition between entire sets of object arrangements without having to explicitly store these arrangements. The proposed method also takes advantage of precomputation given a manipulation roadmap for transferring a single object in the space. The approach is evaluated in simulation for a realistic model of a Baxter robot and executed on the real system, showing that the method solves complex instances and is promising in terms of scalability and success ratio.
Krontiris et al. (Sat,) studied this question.